OpenRaiser/Intern-Atlas huggingface dataset:
Critical Insights into Leading Conversational AI Models
Venue: arXiv cs.AI 2025
Year: 2025

Big Language Models (LLMs) are changing the way businesses use software, the way people live their lives and the way industries work. Companies like Google, High-Flyer, Anthropic, OpenAI and Meta are making better LLMs. So, it's crucial to look at how each model is different in terms of performance, moral behaviour and usability, as these differences are based on the different ideas that built them. This study compares five top LLMs: Google's Gemini, High-Flyer's DeepSeek, Anthropic's Claude, OpenAI's GPT models and Meta's LLaMA. It performs this by analysing three important factors: Performance and Accuracy, Ethics and Bias Mitigation and Usability and Integration. It was found that Claude has good moral reasoning, Gemini is better at multimodal capabilities and has strong ethical frameworks. DeepSeek is great at reasoning based on facts, LLaMA is good for open applications and ChatGPT delivers balanced performance with a focus on usage. It was concluded that these models are different in terms of how well they work, how easy they are to use and how they treat people ethically, making it a point that each model should be utilised by the user in a way that makes the most of its strengths.
ConMatFormer: A Multi-attention and Transformer Integrated ConvNext based Deep Learning Model for Enhanced Diabetic Foot Ulcer Classification
Venue: arXiv cs.CV 2025
Year: 2025

Diabetic foot ulcer (DFU) detection is a clinically significant yet challenging task due to the scarcity and variability of publicly available datasets. To solve these problems, we propose ConMatFormer, a new hybrid deep learning architecture that combines ConvNeXt blocks, multiple attention mechanisms convolutional block attention module (CBAM) and dual attention network (DANet), and transformer modules in a way that works together. This design facilitates the extraction of better local features and understanding of the global context, which allows us to model small skin patterns across different types of DFU very accurately. To address the class imbalance, we used data augmentation methods. A ConvNeXt block was used to obtain detailed local features in the initial stages. Subsequently, we compiled the model by adding a transformer module to enhance long-range dependency. This enabled us to pinpoint the DFU classes that were underrepresented or constituted minorities. Tests on the DS1 (DFUC2021) and DS2 (diabetic foot ulcer (DFU)) datasets showed that ConMatFormer outperformed state-of-the-art (SOTA) convolutional neural network (CNN) and Vision Transformer (ViT) models in terms of accuracy, reliability, and flexibility. The proposed method achieved an accuracy of 0.8961 and a precision of 0.9160 in a single experiment, which is a significant improvement over the current standards for classifying DFUs. In addition, by 4-fold cross-validation, the proposed model achieved an accuracy of 0.9755 with a standard deviation of only 0.0031. We further applied explainable artificial intelligence (XAI) methods, such as Grad-CAM, Grad-CAM++, and LIME, to consistently monitor the transparency and trustworthiness of the decision-making process.. Our findings set a new benchmark for DFU classification and provide a hybrid attention transformer framework for medical image analysis.
Probing the Representational Geometry of Color Qualia: Dissociating Pure Perception from Task Demands in Brains and AI Models
Venue: arXiv cs.NE 2025
Year: 2025

Probing the computational underpinnings of subjective experience, or qualia, remains a central challenge in cognitive neuroscience. This project tackles this question by performing a rigorous comparison of the representational geometry of color qualia between state-of-the-art AI models and the human brain. Using a unique fMRI dataset with a "no-report" paradigm, we use Representational Similarity Analysis (RSA) to compare diverse vision models against neural activity under two conditions: pure perception ("no-report") and task-modulated perception ("report"). Our analysis yields three principal findings. First, nearly all models align better with neural representations of pure perception, suggesting that the cognitive processes involved in task execution are not captured by current feedforward architectures. Second, our analysis reveals a critical interaction between training paradigm and architecture, challenging the simple assumption that Contrastive Language-Image Pre-training(CLIP) training universally improves neural plausibility. In our direct comparison, this multi-modal training method enhanced brain-alignment for a vision transformer(ViT), yet had the opposite effect on a ConvNet. Our work contributes a new benchmark task for color qualia to the field, packaged in a Brain-Score compatible format. This benchmark reveals a fundamental divergence in the inductive biases of artificial and biological vision systems, offering clear guidance for developing more neurally plausible models.
$L_p$ Sampling in Distributed Data Streams with Applications to Adversarial Robustness
Venue: arXiv cs.DS 2025
Year: 2025

In the distributed monitoring model, a data stream over a universe of size $n$ is distributed over $k$ servers, who must continuously provide certain statistics of the overall dataset, while minimizing communication with a central coordinator. In such settings, the ability to efficiently collect a random sample from the global stream is a powerful primitive, enabling a wide array of downstream tasks such as estimating frequency moments, detecting heavy hitters, or performing sparse recovery. Of particular interest is the task of producing a perfect $L_p$ sample, which given a frequency vector $f \in \mathbb{R}^n$, outputs an index $i$ with probability $\frac{f_i^p}{\|f\|_p^p}+\frac{1}{\mathrm{poly}(n)}$. In this paper, we resolve the problem of perfect $L_p$ sampling for all $p\ge 1$ in the distributed monitoring model. Specifically, our algorithm runs in $k^{p-1} \cdot \mathrm{polylog}(n)$ bits of communication, which is optimal up to polylogarithmic factors. Utilizing our perfect $L_p$ sampler, we achieve adversarially-robust distributed monitoring protocols for the $F_p$ moment estimation problem, where the goal is to provide a $(1+\varepsilon)$-approximation to $f_1^p+\ldots+f_n^p$. Our algorithm uses $\frac{k^{p-1}}{\varepsilon^2}\cdot\mathrm{polylog}(n)$ bits of communication for all $p\ge 2$ and achieves optimal bounds up to polylogarithmic factors, matching lower bounds by Woodruff and Zhang (STOC 2012) in the non-robust setting. Finally, we apply our framework to achieve near-optimal adversarially robust distributed protocols for central problems such as counting, frequency estimation, heavy-hitters, and distinct element estimation.
Logical GANs: Adversarial Learning through Ehrenfeucht Fraisse Games
Venue: arXiv cs.LG 2025
Year: 2025

GANs promise indistinguishability, logic explains it. We put the two on a budget: a discriminator that can only ``see'' up to a logical depth $k$, and a generator that must look correct to that bounded observer. \textbf{LOGAN} (LOGical GANs) casts the discriminator as a depth-$k$ Ehrenfeucht--Fraïssé (EF) \emph{Opponent} that searches for small, legible faults (odd cycles, nonplanar crossings, directed bridges), while the generator plays \emph{Builder}, producing samples that admit a $k$-round matching to a target theory $T$. We ship a minimal toolkit -- an EF-probe simulator and MSO-style graph checkers -- and four experiments including real neural GAN training with PyTorch. Beyond verification, we score samples with a \emph{logical loss} that mixes budgeted EF round-resilience with cheap certificate terms, enabling a practical curriculum on depth. Framework validation demonstrates $92\%$--$98\%$ property satisfaction via simulation (Exp.~3), while real neural GAN training achieves $5\%$--$14\%$ improvements on challenging properties and $98\%$ satisfaction on connectivity (matching simulation) through adversarial learning (Exp.~4). LOGAN is a compact, reproducible path toward logic-bounded generation with interpretable failures, proven effectiveness (both simulated and real training), and dials for control.
Lyapunov Function-guided Reinforcement Learning for Flight Control
Venue: arXiv cs.AI 2025
Year: 2025

A cascaded online learning flight control system has been developed and enhanced with respect to action smoothness. In this paper, we investigate the convergence performance of the control system, characterized by the increment of a Lyapunov function candidate. The derivation of this metric accounts for discretization errors and state prediction errors introduced by the incremental model. Comparative results are presented through flight control simulations.
Exploring Structures of Inferential Mechanisms through Simplistic Digital Circuits
Venue: arXiv cs.AI 2025
Year: 2025

Cognitive studies and artificial intelligence have developed distinct models for various inferential mechanisms (categorization, induction, abduction, causal inference, contrast, merge, ...). Yet, both natural and artificial views on cognition lack apparently a unifying framework. This paper formulates a speculative answer attempting to respond to this gap. To postulate on higher-level activation processes from a material perspective, we consider inferential mechanisms informed by symbolic AI modelling techniques, through the simplistic lenses of electronic circuits based on logic gates. We observe that a logic gate view entails a different treatment of implication and negation compared to standard logic and logic programming. Then, by combinatorial exploration, we identify four main forms of dependencies that can be realized by these inferential circuits. Looking at how these forms are generally used in the context of logic programs, we identify eight common inferential patterns, exposing traditionally distinct inferential mechanisms in an unifying framework. Finally, following a probabilistic interpretation of logic programs, we unveil inner functional dependencies. The paper concludes elaborating in what sense, even if our arguments are mostly informed by symbolic means and digital systems infrastructures, our observations may pinpoint to more generally applicable structures.
HyPerNav: Hybrid Perception for Object-Oriented Navigation in Unknown Environment
Venue: arXiv cs.RO 2025
Year: 2025

Objective-oriented navigation(ObjNav) enables robot to navigate to target object directly and autonomously in an unknown environment. Effective perception in navigation in unknown environment is critical for autonomous robots. While egocentric observations from RGB-D sensors provide abundant local information, real-time top-down maps offer valuable global context for ObjNav. Nevertheless, the majority of existing studies focus on a single source, seldom integrating these two complementary perceptual modalities, despite the fact that humans naturally attend to both. With the rapid advancement of Vision-Language Models(VLMs), we propose Hybrid Perception Navigation (HyPerNav), leveraging VLMs' strong reasoning and vision-language understanding capabilities to jointly perceive both local and global information to enhance the effectiveness and intelligence of navigation in unknown environments. In both massive simulation evaluation and real-world validation, our methods achieved state-of-the-art performance against popular baselines. Benefiting from hybrid perception approach, our method captures richer cues and finds the objects more effectively, by simultaneously leveraging information understanding from egocentric observations and the top-down map. Our ablation study further proved that either of the hybrid perception contributes to the navigation performance.
Gen-LangSplat: Generalized Language Gaussian Splatting with Pre-Trained Feature Compression
Venue: arXiv cs.CV 2025
Year: 2025

Modeling open-vocabulary language fields in 3D is essential for intuitive human-AI interaction and querying within physical environments. State-of-the-art approaches, such as LangSplat, leverage 3D Gaussian Splatting to efficiently construct these language fields, encoding features distilled from high-dimensional models like CLIP. However, this efficiency is currently offset by the requirement to train a scene-specific language autoencoder for feature compression, introducing a costly, per-scene optimization bottleneck that hinders deployment scalability. In this work, we introduce Gen-LangSplat, that eliminates this requirement by replacing the scene-wise autoencoder with a generalized autoencoder, pre-trained extensively on the large-scale ScanNet dataset. This architectural shift enables the use of a fixed, compact latent space for language features across any new scene without any scene-specific training. By removing this dependency, our entire language field construction process achieves a efficiency boost while delivering querying performance comparable to, or exceeding, the original LangSplat method. To validate our design choice, we perform a thorough ablation study empirically determining the optimal latent embedding dimension and quantifying representational fidelity using Mean Squared Error and cosine similarity between the original and reprojected 512-dimensional CLIP embeddings. Our results demonstrate that generalized embeddings can efficiently and accurately support open-vocabulary querying in novel 3D scenes, paving the way for scalable, real-time interactive 3D AI applications.
End-to-End Design and Validation of a Low-Cost Stewart Platform with Nonlinear Estimation and Control
Venue: arXiv cs.RO 2025
Year: 2025

This paper presents the complete design, control, and experimental validation of a low-cost Stewart platform prototype developed as an affordable yet capable robotic testbed for research and education. The platform combines off the shelf components with 3D printed and custom fabricated parts to deliver full six degrees of freedom motions using six linear actuators connecting a moving platform to a fixed base. The system software integrates dynamic modeling, data acquisition, and real time control within a unified framework. A robust trajectory tracking controller based on feedback linearization, augmented with an LQR scheme, compensates for the platform's nonlinear dynamics to achieve precise motion control. In parallel, an Extended Kalman Filter fuses IMU and actuator encoder feedback to provide accurate and reliable state estimation under sensor noise and external disturbances. Unlike prior efforts that emphasize only isolated aspects such as modeling or control, this work delivers a complete hardware-software platform validated through both simulation and experiments on static and dynamic trajectories. Results demonstrate effective trajectory tracking and real-time state estimation, highlighting the platform's potential as a cost effective and versatile tool for advanced research and educational applications.
MAD-Fact: A Multi-Agent Debate Framework for Long-Form Factuality Evaluation in LLMs
Venue: arXiv cs.CL 2025
Year: 2025

The widespread adoption of Large Language Models (LLMs) raises critical concerns about the factual accuracy of their outputs, especially in high-risk domains such as biomedicine, law, and education. Existing evaluation methods for short texts often fail on long-form content due to complex reasoning chains, intertwined perspectives, and cumulative information. To address this, we propose a systematic approach integrating large-scale long-form datasets, multi-agent verification mechanisms, and weighted evaluation metrics. We construct LongHalluQA, a Chinese long-form factuality dataset; and develop MAD-Fact, a debate-based multi-agent verification system. We introduce a fact importance hierarchy to capture the varying significance of claims in long-form texts. Experiments on two benchmarks show that larger LLMs generally maintain higher factual consistency, while domestic models excel on Chinese content. Our work provides a structured framework for evaluating and enhancing factual reliability in long-form LLM outputs, guiding their safe deployment in sensitive domains.
Scaling Up Occupancy-centric Driving Scene Generation: Dataset and Method
Venue: arXiv cs.CV 2025
Year: 2025

Driving scene generation is a critical domain for autonomous driving, enabling downstream applications, including perception and planning evaluation. Occupancy-centric methods have recently achieved state-of-the-art results by offering consistent conditioning across frames and modalities; however, their performance heavily depends on annotated occupancy data, which still remains scarce. To overcome this limitation, we curate Nuplan-Occ, the largest semantic occupancy dataset to date, constructed from the widely used Nuplan benchmark. Its scale and diversity facilitate not only large-scale generative modeling but also autonomous driving downstream applications. Based on this dataset, we develop a unified framework that jointly synthesizes high-quality semantic occupancy, multi-view videos, and LiDAR point clouds. Our approach incorporates a spatio-temporal disentangled architecture to support high-fidelity spatial expansion and temporal forecasting of 4D dynamic occupancy. To bridge modal gaps, we further propose two novel techniques: a Gaussian splatting-based sparse point map rendering strategy that enhances multi-view video generation, and a sensor-aware embedding strategy that explicitly models LiDAR sensor properties for realistic multi-LiDAR simulation. Extensive experiments demonstrate that our method achieves superior generation fidelity and scalability compared to existing approaches, and validates its practical value in downstream tasks. Repo: https://github.com/Arlo0o/UniScene-Unified-Occupancy-centric-Driving-Scene-Generation/tree/v2
Reasoning About Reasoning: Towards Informed and Reflective Use of LLM Reasoning in HCI
Venue: arXiv cs.HC 2025
Year: 2025

Reasoning is a distinctive human-like characteristic attributed to LLMs in HCI due to their ability to simulate various human-level tasks. However, this work argues that the reasoning behavior of LLMs in HCI is often decontextualized from the underlying mechanics and subjective decisions that condition the emergence and human interpretation of this behavior. Through a systematic survey of 258 CHI papers from 2020-2025 on LLMs, we discuss how HCI hardly perceives LLM reasoning as a product of sociotechnical orchestration and often references it as an object of application. We argue that such abstraction leads to oversimplification of reasoning methodologies from NLP/ML and results in a distortion of LLMs' empirically studied capabilities and (un)known limitations. Finally, drawing on literature from both NLP/ML and HCI, as a constructive step forward, we develop reflection prompts to support HCI practitioners engage with LLM reasoning in an informed and reflective way.
CodeAD: Synthesize Code of Rules for Log-based Anomaly Detection with LLMs
Venue: arXiv cs.SE 2025
Year: 2025

Log-based anomaly detection (LogAD) is critical for maintaining the reliability and availability of large-scale online service systems. While machine learning, deep learning, and large language models (LLMs)-based methods have advanced the LogAD, they often suffer from limited interpretability, high inference costs, and extensive preprocessing requirements, limiting their practicality for real-time, high-volume log analysis. In contrast, rule-based systems offer efficiency and transparency, but require significant manual effort and are difficult to scale across diverse and evolving environments. In this paper, We present CodeAD, a novel framework that automatically synthesizes lightweight Python rule functions for LogAD using LLMs. CodeAD introduces a hierarchical clustering and anchor-grounded sampling strategy to construct representative contrastive log windows, enabling LLMs to discern discriminative anomaly patterns. To ensure robustness and generalizability, CodeAD employs an agentic workflow that iteratively generates, tests, repairs, and refines the rules until it meets correctness and abstraction requirements. The synthesized rules are interpretable, lightweight, and directly executable on raw logs, supporting efficient and transparent online anomaly detection. Our comprehensive experiments on three public datasets (BGL, Hadoop, Thunderbird) demonstrate that CodeAD achieves an average absolute improvement of 3.6% F1 score over the state-of-the-art baselines, while processing large datasets up to 4x faster and at a fraction of the cost (total LLM invocation cost under 4 USD per dataset). These results highlight CodeAD as a practical and scalable solution for online monitoring systems, enabling interpretable, efficient, and automated LogAD in real-world environment.
Nested AutoRegressive Models
Venue: arXiv cs.CV 2025
Year: 2025

AutoRegressive (AR) models have demonstrated competitive performance in image generation, achieving results comparable to those of diffusion models. However, their token-by-token image generation mechanism remains computationally intensive and existing solutions such as VAR often lead to limited sample diversity. In this work, we propose a Nested AutoRegressive~(NestAR) model, which proposes nested AutoRegressive architectures in generating images. NestAR designs multi-scale modules in a hierarchical order. These different scaled modules are constructed in an AR architecture, where one larger-scale module is conditioned on outputs from its previous smaller-scale module. Within each module, NestAR uses another AR structure to generate ``patches'' of tokens. The proposed nested AR architecture reduces the overall complexity from $\mathcal{O}(n)$ to $\mathcal{O}(\log n)$ in generating $n$ image tokens, as well as increases image diversities. NestAR further incorporates flow matching loss to use continuous tokens, and develops objectives to coordinate these multi-scale modules in model training. NestAR achieves competitive image generation performance while significantly lowering computational cost.
Enabling American Sign Language Communication Under Low Data Rates
Venue: arXiv cs.MM 2025
Year: 2025

In recent years, video conferencing applications have become increasingly prevalent, relying heavily on high-speed internet connectivity. When such connectivity is lacking, users often default to audio-only communication, a mode that significantly disadvantages American Sign Language (ASL) users, whose communication relies on hand gestures, body movement, and facial expressions. In this work, we introduce VC4ASL, a system designed to enable ASL communication over the audio channel of existing video conferencing applications, even in the absence of reliable video. VC4ASL integrates seamlessly with current platforms without requiring any modifications. Our approach establishes a communication channel through audio by encoding and transmitting human pose information, which is then rendered to reconstruct signed content. We propose novel receive-side error detection and correction mechanisms that exploit the inherent structural constraints of human pose data. To evaluate the system, we simulate network-degraded environments, generate pose-based ASL video sequences, and conduct user studies to assess comprehension among ASL users. Experimental results demonstrate that VC4ASL effectively facilitates intelligible ASL communication over audio in low-bandwidth scenarios where video transmission is impaired.